"They are occupying Haiti undercover," Chavez said on his weekly television show.
"I read that 3,000 soldiers are arriving, Marines armed, as if they were going to war. There is not a shortage of guns there, my god! Doctors, medicine, fuel, field hospitals, that's what the United States should send.
"On top of that, you don't see them in the streets. Are they picking up bodies? .... Are they looking for the injured? You don't see them. I haven't seen them. Where are they?," added the Venezuelan president, a critic of US 'imperialism'.
However, Chavez clarified that he did not intend to diminish the humanitarian effort made by the United States and said that he was only questioning the need for so many troops.
Chavez has offered to send fuel from his Organisation of the Petroleum Exporting Countries (OPEC) to the Caribbean nation.